bresch
3165a77e26
SIH-AGP: add sensor failure simulation
2024-12-13 17:40:08 +01:00
bresch
2a08d4bdb8
add SensorAgpSim to generate Aux Global Position data
2024-12-13 17:40:08 +01:00
GuillaumeLaine
4d62522942
uxrce_dds_client: remove unused msgdir arg from script
2024-12-13 16:34:37 +01:00
bresch
f9140fcd50
ekf2: set baro bias when GNSS is alt ref
...
Do this even when GNSS altitude fusion is disabled.
2024-12-13 14:55:46 +01:00
bresch
fad9ae855d
EKF2: reset aid src when resetting state to measurement
...
Filtered innovations and test ratios can be large before the reset and
would trigger pre-flight warnings
2024-12-13 14:26:57 +01:00
Jacob Dahl
eb829676b0
sim: gz: remove Garden from cmake
2024-12-13 13:20:20 +01:00
Silvan Fuhrer
896c08bd68
COMMON_DISTANCE_SENSOR: remove srf02 from the list
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-12-13 11:40:59 +01:00
Silvan Fuhrer
f4b5d8e3d8
COMMON_DISTANCE_SENSOR: remove gy_us42 from the list
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-12-13 11:40:59 +01:00
Silvan Fuhrer
0b4b794de7
COMMON_DISTANCE_SENSOR: remove leddar_one from the list
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2024-12-13 11:40:59 +01:00
bresch
cc92979b06
ekf-agp: fix timeout
2024-12-12 15:49:04 +01:00
Matthias Grob
d5c9ea048e
LidarLitePWM: refactor static cast and comment
2024-12-12 13:50:17 +01:00
Matthias Grob
5010b01e2e
PCF8583: refactor 1e6f for 1000000.f
2024-12-12 13:50:17 +01:00
Julian Oes
091974e6c5
listener: only clear screen with multiple messages ( #24019 )
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* listener: only clear screen with multiple messages
* listener: fully clear before printing again
Otherwise, we end up seeing artifacts from the previous print.
2024-12-11 10:00:36 +13:00
Riccardo Mengoli
09cd42911d
Mission: Replay gimbal cached items before reaching mission waypoint ( #24085 )
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When flying patterns, photos are sometimes taken while the gimbal is pitching up or down. To address this, we orient the gimbal before reaching the mission waypoint, allowing more time to complete the action. Additionally, we verify if the vehicle is climbing to avoid orienting the gimbal while on the ground.
2024-12-10 09:20:53 +01:00
Jari Nippula
2da944a834
Logger: combined key & cipher file
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Use one single .ulge file to store both wrapped symmetric key and
encrypted ulog data instead of creating separate .ulgk/ulgc files
2024-12-05 07:25:29 +01:00
Jacob Dahl
ae61b4bfe0
params: flash: erase corrupt sector ( #24065 )
2024-12-05 07:24:56 +01:00
Julian Oes
1778692ca2
gps: heading fixes for NMEA/Unicore
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This updates the GPS submodule which includes NMEA/Unicore fixes:
- Add correct return value for sat infos
- Only publish on position updates
- Request required topics at 5 Hz for Unicore
2024-12-05 08:58:22 +13:00
Matthias Grob
d416cd2a6c
Commander: remove COM_POS_FS_DELAY
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A user configurable delay for the internal `vehicle_local_position` seems confusing in my eyes. It's a different timeout for fixed-wing and multirotor which might have made sense earlier but not really anymore since the topic is constantly published by the estimator and not expected to time out on either vehicle type and the parameter description is also misleading because it's outdated.
2024-12-03 17:31:56 +01:00
Perre
dfa48f988d
ESC check: Avoid unsigned timestamp underflow in telemtry timeout ( #24069 )
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* Avoid unsigned integer underflow
* ESC check: add brackets to timeout for readability
---------
Co-authored-by: Matthias Grob <maetugr@gmail.com>
2024-12-03 17:14:09 +01:00
bresch
8626019ae0
EKF2: reset global position using variance
2024-12-03 13:04:25 +01:00
bresch
6b637f82f8
lla; fix conversion to ECEF
2024-12-03 13:03:54 +01:00
Perre
4696338d29
Add gz model for quadtailsitter ( #23943 )
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* Add gazebo airspeed plugin and add a tailsitter model
---------
Co-authored-by: Claudio Chies <61051109+Claudio-Chies@users.noreply.github.com>
2024-12-02 17:27:23 +01:00
Claudio Chies
1a165a4956
Added possibility to modify the start position from external sources, as its done in the _getMaxXYSpeed
2024-12-02 14:52:31 +01:00
Matthias Grob
7dcfeb2f77
PositionSmoothing: refactor _getMaxZSpeed()
2024-12-02 14:52:31 +01:00
Matthias Grob
092e5e8f9d
TrajectoryConstraints: clarify waypoint indexing
2024-12-02 14:52:31 +01:00
Claudio Chies
06dde4ede8
MPC: PositonSmoothing, change test to reflect that we have to come inwithing the acceptance radius, and not exact position.
2024-12-02 14:52:31 +01:00
Claudio Chies
72e758950b
Included turning radius calculations for vertical changes and removed the requirement for the same altitude in the 2D turning radius logic.
2024-12-02 14:52:31 +01:00
chfriedrich98
be2a3afb83
mecanum: update parameter description
2024-12-02 10:54:43 +01:00
chfriedrich98
ff55313b0b
mecanum: update current position in main file
2024-12-02 10:54:43 +01:00
chfriedrich98
369ce37d65
mecanum: adjust speed setpoints to always be feasible
2024-12-02 10:54:43 +01:00
chfriedrich98
2eda5659eb
mecanum: fix inverse kinematics
2024-12-02 10:54:43 +01:00
chfriedrich98
5dcccd999c
mecanum: add slew rates to yaw, yaw rate and speed setpoints
2024-12-02 10:54:43 +01:00
chfriedrich98
54abc59283
mecanum: deprecate RM_MAN_YAW_SCALE
2024-12-02 10:54:43 +01:00
chfriedrich98
6cce443005
mecanum: deprecate RM_MISS_SPD_DEF
2024-12-02 10:54:43 +01:00
chfriedrich98
7e705bbf55
differential: add slow down effect in mission mode
2024-12-02 10:44:22 +01:00
chfriedrich98
8880569b31
differential: adjust speed setpoint based on yaw rate setpoint
2024-12-02 10:44:22 +01:00
bresch
8b1975cb98
SIH: lower IMU noise before takeoff
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This speeds-up the EKF alignment
2024-11-29 14:21:29 +01:00
bresch
cd18138b1c
SIH: add transport rate acceleration to local acceleration
2024-11-29 14:21:29 +01:00
bresch
674aa474e7
SIH: use LatLonAlt class
2024-11-29 14:21:29 +01:00
bresch
189122d553
lla: add gravity constant at equator
2024-11-29 14:21:29 +01:00
bresch
b6658df169
lla: move to lib directory
2024-11-29 14:21:29 +01:00
bresch
7cf42727fb
lla: add functions to convert from and to ECEF
2024-11-29 14:21:29 +01:00
bresch
7ee69d616d
SIH: rework FW ground contact
2024-11-29 14:21:29 +01:00
bresch
5d33971712
SIH: refactor MC ground contact
2024-11-29 14:21:29 +01:00
bresch
9b172d36a2
matrix: allow casting float<->double
2024-11-29 14:21:29 +01:00
Marco Hauswirth
5d7b734bc9
SIH: ellipsoidal earth model
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SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com>
2024-11-29 14:21:29 +01:00
Matthias Grob
ce3fcd503f
navigator: unify timeout waiting for payload to execute mission item command
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Used for winch, gripper, gimbal to reach the desired state before continuing the mission.
Ideally we'd have feedback from all these components and not just a feed-forward delay.
2024-11-28 20:23:36 +01:00
Matthias Grob
17c24bafbc
mission_block: simplify timeout check
2024-11-28 20:23:36 +01:00
Matthias Grob
ec1cf04bc9
mission_block: fix style, shorten debug message strings
2024-11-28 20:23:36 +01:00
Stefano Colli
8b3c78a0a4
Navigator: add optional delay after gimbal mission items
2024-11-28 20:23:36 +01:00
